nasa-jpl · nestor-g · Mar 3, 2026
diff --git a/mkdocs.yml b/mkdocs.yml
@@ -27,6 +27,34 @@ nav:
       - Optional parts: mechanical/optional_cad_parts/README.md
   - Software:
       - Software on GitHub: https://github.com/nasa-jpl/osr-rover-code
+  - Systems Engineering:
+      - Overview: systems_engineering/README.md
+      - Operational Analysis:
+          - Overview: systems_engineering/01_operational_analysis/README.md
+          - Stakeholders: systems_engineering/01_operational_analysis/stakeholders.md
+          - Operational Entities: systems_engineering/01_operational_analysis/operational_entities.md
+          - Operational Activities: systems_engineering/01_operational_analysis/operational_activities.md
+          - Operational Capabilities: systems_engineering/01_operational_analysis/operational_capabilities.md
+      - System Analysis:
+          - Overview: systems_engineering/02_system_analysis/README.md
+          - System Functions: systems_engineering/02_system_analysis/system_functions.md
+          - Capabilities: systems_engineering/02_system_analysis/capabilities.md
+          - Missions: systems_engineering/02_system_analysis/missions.md
+          - Interfaces: systems_engineering/02_system_analysis/interfaces.md
+      - Logical Architecture:
+          - Overview: systems_engineering/03_logical_architecture/README.md
+          - Logical Components: systems_engineering/03_logical_architecture/logical_components.md
+          - Logical Functions: systems_engineering/03_logical_architecture/logical_functions.md
+          - Interfaces: systems_engineering/03_logical_architecture/interfaces.md
+      - Physical Architecture:
+          - Overview: systems_engineering/04_physical_architecture/README.md
+          - Physical Components: systems_engineering/04_physical_architecture/physical_components.md
+          - Physical Functions: systems_engineering/04_physical_architecture/physical_functions.md
+          - Interfaces: systems_engineering/04_physical_architecture/interfaces.md
+      - EPBS Architecture:
+          - Overview: systems_engineering/05_epbs/README.md
+          - Configuration Items: systems_engineering/05_epbs/configuration_items.md
+      - Capella Model: systems_engineering/MBSE_workspace/README.md
   - OSR@JPL: https://jplopensourcerover.com/
 
 plugins:

diff --git a/systems_engineering/01_operational_analysis/README.md b/systems_engineering/01_operational_analysis/README.md
@@ -0,0 +1,51 @@
+# Operational Analysis (OA)
+
+**Arcadia Layer 1 of 5**
+
+The Operational Analysis answers the question: **WHY does the system exist?** It describes the operational context — who the stakeholders are, what activities they need performed, and how entities interact — without yet committing to any system solution.
+
+## Purpose
+
+The OA captures the needs of the world that the OSR must satisfy. It is completely solution-agnostic: there is no rover here, only the operational problem to be solved.
+
+## Documents
+
+| Document | Contents |
+|---|---|
+| [Stakeholders](stakeholders.md) | All parties with a stake in the rover's operation |
+| [Operational Entities](operational_entities.md) | Actors and external systems in the operational environment |
+| [Operational Activities](operational_activities.md) | Activities that must be performed to meet stakeholder needs |
+| [Operational Capabilities](operational_capabilities.md) | High-level capabilities the operation must provide |
+
+## Operational Context Summary
+
+The JPL Open Source Rover exists to serve the **STEM education and maker community** by providing a credible, buildable analog of Mars exploration rovers. The operational environment includes:
+
+- **Educators and students** who build, program, and operate the rover
+- **The terrain** the rover traverses (indoor floors, outdoor surfaces, moderate obstacles)
+- **Compute and control infrastructure** (laptop, gamepad, wireless link)
+- **External power** (battery, charger)
+
+The rover is expected to be **assembled by non-specialists** from commercially available parts, **operated remotely** via a ground station, and **extended** with custom sensors or payloads.
+
+## Operational Architecture Block (OAB) Summary
+
+```
+┌──────────────────────────────────────────────────────┐
+│                 Operational Environment               │
+│                                                      │
+│  [Operator] ──control──► [OSR System]                │
+│      │                       │                       │
+│      │◄──telemetry────────────┤                       │
+│                               │                      │
+│  [Builder] ──assembly──► [OSR Hardware]              │
+│                                                      │
+│  [Developer] ──software──► [OSR Software Stack]      │
+│                                                      │
+│  [Terrain] ◄──traversal── [OSR Mobility]             │
+└──────────────────────────────────────────────────────┘
+```
+
+## Traceability
+
+Operational Activities in this layer are realized by **System Functions** in the [System Analysis](../02_system_analysis/README.md).
diff --git a/systems_engineering/01_operational_analysis/operational_activities.md b/systems_engineering/01_operational_analysis/operational_activities.md
@@ -0,0 +1,151 @@
+# Operational Activities
+
+**OA Layer — Operational Activity Register**
+
+Operational Activities (OActs) describe **what must be done** in the operational world — independent of how the system does it. Each activity is owned by an Operational Entity and may exchange data or artifacts with other activities.
+
+## Activity Hierarchy
+
+```
+Root Operational Activity (OAct-00)
+├── OAct-01  Conduct Rover Mission
+│   ├── OAct-01.1  Plan Traverse Route
+│   ├── OAct-01.2  Command Rover Motion
+│   ├── OAct-01.3  Monitor Rover State
+│   ├── OAct-01.4  Respond to Hazard
+│   └── OAct-01.5  Collect Sensor Data
+├── OAct-02  Maintain Rover
+│   ├── OAct-02.1  Charge Battery
+│   ├── OAct-02.2  Inspect and Repair Hardware
+│   └── OAct-02.3  Update Software
+├── OAct-03  Build Rover
+│   ├── OAct-03.1  Source Components
+│   ├── OAct-03.2  Assemble Mechanical Structure
+│   ├── OAct-03.3  Install Electrical System
+│   └── OAct-03.4  Install and Configure Software
+└── OAct-04  Extend Rover Capability
+    ├── OAct-04.1  Design Payload or Modification
+    ├── OAct-04.2  Integrate Payload
+    └── OAct-04.3  Develop Custom Software
+```
+
+## Activity Descriptions
+
+### OAct-01 — Conduct Rover Mission
+
+The core operational scenario: a human operator directs the rover through a terrain environment to accomplish a task (traverse, exploration, demonstration, data collection).
+
+#### OAct-01.1 — Plan Traverse Route
+- **Owner:** Ground Operator
+- **Inputs:** Terrain knowledge, mission objectives
+- **Outputs:** Planned waypoints, go/no-go decision
+- **Description:** Operator assesses terrain ahead of the rover and determines a path to traverse, avoiding obstacles that exceed the rover's mobility limits.
+
+#### OAct-01.2 — Command Rover Motion
+- **Owner:** Ground Operator → Ground Station → OSR System
+- **Inputs:** Operator intent (gamepad axes/buttons)
+- **Outputs:** Motion commands (velocity, steering angle)
+- **Description:** Operator translates intended motion into commands. Ground station encodes and transmits these. The rover executes the commanded motion.
+
+#### OAct-01.3 — Monitor Rover State
+- **Owner:** Ground Operator
+- **Inputs:** Telemetry from rover (battery voltage, motor currents, wheel speeds, IMU orientation)
+- **Outputs:** Situational awareness, fault recognition
+- **Description:** Operator continuously monitors rover health and position during the mission, watching for faults, battery depletion, or mechanical issues.
+
+#### OAct-01.4 — Respond to Hazard
+- **Owner:** Ground Operator
+- **Inputs:** Hazard detection (visual inspection or telemetry anomaly)
+- **Outputs:** Corrective commands (stop, reverse, new route)
+- **Description:** When the operator detects a hazard (stuck wheel, tip risk, low battery), they take corrective action to protect the rover.
+
+#### OAct-01.5 — Collect Sensor Data
+- **Owner:** Ground Operator / Developer
+- **Inputs:** Camera stream, optional payload sensor outputs
+- **Outputs:** Recorded images, data logs
+- **Description:** Operator captures data from onboard sensors during the traverse.
+
+---
+
+### OAct-02 — Maintain Rover
+
+#### OAct-02.1 — Charge Battery
+- **Owner:** Builder / Operator
+- **Inputs:** Depleted battery pack
+- **Outputs:** Charged battery, restored operational capacity
+- **Description:** Remove or connect battery to charger; monitor charging state.
+
+#### OAct-02.2 — Inspect and Repair Hardware
+- **Owner:** Builder
+- **Inputs:** Mechanical fault observation
+- **Outputs:** Repaired assembly, replaced components
+- **Description:** Inspect joints, fasteners, wheels, and wiring after operation; replace worn or damaged parts.
+
+#### OAct-02.3 — Update Software
+- **Owner:** Developer
+- **Inputs:** New software version or bug fix
+- **Outputs:** Updated rover firmware/software
+- **Description:** Developer connects to the rover's onboard computer and deploys updated software packages.
+
+---
+
+### OAct-03 — Build Rover
+
+#### OAct-03.1 — Source Components
+- **Owner:** Builder
+- **Inputs:** Parts list, budget
+- **Outputs:** Procured parts kit
+- **Description:** Builder orders mechanical hardware, electronics, motors, and compute components from suppliers.
+
+#### OAct-03.2 — Assemble Mechanical Structure
+- **Owner:** Builder
+- **Inputs:** Procured parts, assembly instructions
+- **Outputs:** Assembled chassis with rocker-bogie suspension and wheels
+- **Description:** Builder follows step-by-step instructions to assemble the frame, rocker-bogie linkage, corner steering assemblies, and six wheel modules.
+
+#### OAct-03.3 — Install Electrical System
+- **Owner:** Builder
+- **Inputs:** Electronics kit, wiring diagrams
+- **Outputs:** Wired and powered electrical system
+- **Description:** Builder installs PCB, motors, motor drivers, and power distribution; performs wiring per schematic.
+
+#### OAct-03.4 — Install and Configure Software
+- **Owner:** Developer / Builder
+- **Inputs:** Software repository, Raspberry Pi
+- **Outputs:** Operational rover with running software
+- **Description:** Flash OS, clone software repo, configure network and ROS environment, test communication with ground station.
+
+---
+
+### OAct-04 — Extend Rover Capability
+
+#### OAct-04.1 — Design Payload or Modification
+- **Owner:** Developer / Engineer Contributor
+- **Inputs:** Extension requirements, rover interface specs
+- **Outputs:** Payload design (mechanical + electrical + software)
+
+#### OAct-04.2 — Integrate Payload
+- **Owner:** Builder
+- **Inputs:** Payload hardware, rover mounting points
+- **Outputs:** Rover with integrated payload
+
+#### OAct-04.3 — Develop Custom Software
+- **Owner:** Developer
+- **Inputs:** Payload data interface, ROS APIs
+- **Outputs:** Custom ROS nodes, behaviors, or autonomy modules
+
+## Operational Scenario: Nominal Mission
+
+```
+Operator powers on rover
+    └──► Rover boots, establishes wireless link
+Operator verifies link via Ground Station
+    └──► Telemetry stream confirmed
+Operator commands forward motion
+    └──► Rover traverses 2 m over flat surface
+Operator commands left turn
+    └──► Rover pivots 45°
+Operator detects low battery warning
+    └──► Operator commands stop and returns rover to start
+Operator disconnects power and charges battery
+```
diff --git a/systems_engineering/01_operational_analysis/operational_capabilities.md b/systems_engineering/01_operational_analysis/operational_capabilities.md
@@ -0,0 +1,46 @@
+# Operational Capabilities
+
+**OA Layer — Operational Capability Register**
+
+Operational Capabilities describe **high-level abilities** the operational environment must provide, independent of how they are achieved. They are the coarsest-grained expression of what the OSR program must enable.
+
+## Capability Register
+
+| ID | Capability | Description |
+|---|---|---|
+| OC-01 | **Terrain Mobility** | The ability to traverse a variety of surface types including flat floors, carpet, gravel, and moderate inclines |
+| OC-02 | **Remote Control** | The ability for a human operator to command rover motion from a safe distance via wireless link |
+| OC-03 | **State Monitoring** | The ability to observe rover health, position, and sensor data in real time at the ground station |
+| OC-04 | **Safe Operation** | The ability to detect and respond to hazardous conditions (e.g., tip risk, low battery, motor fault) |
+| OC-05 | **Build and Assembly** | The ability for a non-specialist to assemble the rover from available commercial parts |
+| OC-06 | **Software Programmability** | The ability for a developer to write, deploy, and modify rover software |
+| OC-07 | **Payload Integration** | The ability to attach optional sensors, cameras, or actuators and integrate them into the rover data stream |
+| OC-08 | **Educational Fidelity** | The ability to serve as a credible analog of Mars rovers for STEM education |
+
+## Capability Scenario Matrix
+
+Each capability is exercised in one or more operational scenarios:
+
+| Scenario | OC-01 | OC-02 | OC-03 | OC-04 | OC-05 | OC-06 | OC-07 | OC-08 |
+|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
+| Nominal terrain traverse | ● | ● | ● | ● | | | | ● |
+| Hazard avoidance | ● | ● | ● | ● | | | | |
+| Initial build and test | | | ● | | ● | ● | | |
+| Payload demonstration | ● | ● | ● | | | ● | ● | ● |
+| Software development/debug | | | ● | | | ● | | |
+| Classroom demonstration | ● | ● | ● | ● | | | | ● |
+
+## Traceability to System Capabilities
+
+Operational Capabilities are refined into **System Capabilities** in the [System Analysis](../02_system_analysis/capabilities.md) layer:
+
+| OC ID | Realized by System Capability |
+|---|---|
+| OC-01 | SC-01 Six-Wheel Drive Mobility, SC-02 Rocker-Bogie Passive Suspension |
+| OC-02 | SC-03 Wireless Command Reception, SC-04 Motor Control Execution |
+| OC-03 | SC-05 Telemetry Reporting |
+| OC-04 | SC-06 Fault Detection and Safe Stop |
+| OC-05 | SC-07 Modular Assembly Architecture |
+| OC-06 | SC-08 Programmable Onboard Computer |
+| OC-07 | SC-09 Payload Interface |
+| OC-08 | SC-01, SC-02 (rocker-bogie is the key fidelity element) |
diff --git a/systems_engineering/01_operational_analysis/operational_entities.md b/systems_engineering/01_operational_analysis/operational_entities.md
@@ -0,0 +1,90 @@
+# Operational Entities
+
+**OA Layer — Operational Entity Register**
+
+Operational Entities (OEs) are the actors and external systems that participate in the operational environment. They interact with each other and with the OSR system through **operational interactions**.
+
+## Entity Register
+
+| ID | Entity | Type | Description |
+|---|---|---|---|
+| OE-01 | **Ground Operator** | Human Actor | Person controlling the rover via ground station |
+| OE-02 | **Ground Station** | External System | Laptop/computer running operator control software |
+| OE-03 | **Wireless Link** | External System | Wi-Fi or other RF link between ground station and rover |
+| OE-04 | **OSR System** | System-of-Interest | The rover itself (treated as a black box at this layer) |
+| OE-05 | **Terrain** | Environment | The surface the rover traverses — floors, gravel, obstacles |
+| OE-06 | **Power Source** | External System | Battery pack supplying electrical energy to the rover |
+| OE-07 | **Builder** | Human Actor | Person assembling the rover from parts |
+| OE-08 | **Parts Suppliers** | External System | Vendors supplying mechanical, electrical, and electronic components |
+| OE-09 | **Developer** | Human Actor | Person writing or modifying rover software |
+| OE-10 | **Payload / Sensor** | External System | Optional extensions (cameras, arms, science instruments) |
+
+## Operational Interactions
+
+### Primary Control Loop
+
+```
+[Ground Operator]
+      │
+      │ issues motion commands (gamepad input)
+      ▼
+[Ground Station]
+      │
+      │ encodes commands (ROS messages / serial packets)
+      ▼
+[Wireless Link]
+      │
+      │ transmits over Wi-Fi
+      ▼
+[OSR System]
+      │
+      │ executes motion
+      ▼
+[Terrain] ◄── rover exerts forces
+      │
+      │ rover state (odometry, attitude)
+      ▼
+[OSR System]
+      │
+      │ telemetry data
+      ▼
+[Wireless Link] → [Ground Station] → [Ground Operator]
+```
+
+### Power Loop
+
+```
+[Power Source] ──DC power──► [OSR System]
+[OSR System] ──discharge status──► [Ground Operator]
+```
+
+### Build Loop
+
+```
+[Builder] ──assembly work──► [OSR System]
+[Parts Suppliers] ──components──► [Builder]
+[Developer] ──software install──► [OSR System]
+```
+
+### Payload Extension Loop
+
+```
+[Payload / Sensor] ──data──► [OSR System]
+[OSR System] ──power + comms──► [Payload / Sensor]
+[OSR System] ──sensor telemetry──► [Ground Station]
+```
+
+## Entity Roles
+
+| Entity | Provides | Receives |
+|---|---|---|
+| OE-01 Ground Operator | Control intent | Rover telemetry, camera video |
+| OE-02 Ground Station | Encoded commands | Telemetry, video stream |
+| OE-03 Wireless Link | Bidirectional data channel | Commands (downlink), telemetry (uplink) |
+| OE-04 OSR System | Motion, sensor data | Commands, power |
+| OE-05 Terrain | Reaction forces, obstacles | Rover wheel forces |
+| OE-06 Power Source | Electrical energy | — |
+| OE-07 Builder | Assembled hardware | Parts, documentation |
+| OE-08 Parts Suppliers | Components | Purchase orders |
+| OE-09 Developer | Software | Hardware platform |
+| OE-10 Payload / Sensor | Sensor data | Power, communication interface |